JP7115893B2 - Inner bag storage device and inner bag storage method - Google Patents

Description

TECHNICAL FIELD The present invention relates to an inner bag storage device and an inner bag storage method.

When putting food into a container such as a cardboard box, the food is wrapped in an inner bag such as a plastic bag provided in the container for the purpose of preventing dust, moisture, and liquid leakage. The open top of the bag is accommodated within the container, and the open top of the container is closed for packaging. In order to facilitate the storage of the stored items in an inner bag such as a plastic bag, the open upper portion of the inner bag is folded back and hooked on the upper end of the flap at the top of the container during storage.

Conventionally, the operation of storing the open upper portion of the inner bag in the container has been performed by folding it manually.

On the other hand, if the folding work is done manually, the entire line cannot be unmanned, so a folding device has been invented that can unmann the entire line by automatically folding the inner bag ( See Patent Document 1).

Japanese Patent Publication No. 5-63363

However, in the apparatus of Patent Document 1, the open top of the inner bag, which is contained in the container having the flap at the open top, can be accommodated in the container in a state in which the open top of the inner bag is folded back over the top end of the flap. I could not do it.

Accordingly, an object of the present invention is to allow the open top of an inner bag to be housed in a container having a flap at the open top, in a state in which the open top of the inner bag is folded back over the top end of the flap and hung in the container. An object of the present invention is to provide an inner bag storage device and an inner bag storage method.

In order to achieve the above objects, the present invention provides the following inner bag storage device and inner bag storage method.

[1] The open top of an inner bag that is contained in a container having one or two pairs of opposing flaps at the open top is folded back over the upper ends of the one or two pairs of opposing flaps, and then the container An inner bag storage device for storing the open top of the inner bag inside, wherein one pair of flaps out of the pair of opposing flaps with the inner bag hung is gripped . , a pair of hands capable of moving upward of the container as they are, wherein the pair of hands slides over the portion of the inner bag that is in contact with the portion of the inner bag that is folded back on the outside of the container when the flap is gripped. An inner bag storage device, characterized in that a stopper is provided.
[2] At least one nozzle for blowing air from above the container toward the open top of the inner bag for assisting storage when the open top of the inner bag is gripped and stored in the container by the hand. The inner bag storage device according to the above [1], characterized by comprising:
[3] Air is supplied from below the container to release the inner bag from the pair of flaps that are not gripped by the pair of hands, in order to remove the inner bag. The inner bag storage device according to the above [1] or [2], comprising at least one nozzle that blows upward.
[4] Any one of the above [1] to [3], characterized by comprising a suction device for fixing the position of the flap when the pair of hands grabs the flap. bag storage device.
[5] The apparatus according to [1] to the above characterized by comprising a pressing device for pressing the open upper portion of the inner bag downward after the open upper portion of the inner bag is accommodated in the container by the pair of hands. The inner bag storage device according to any one of [4].
[6] Any one of [1] to [5] above, wherein the pair of hands grips the pair of flaps whose flap surfaces are parallel to the direction in which the container on the conveyer moves. 1. The liner storage device according to 1.
[7] A state in which the open upper part of an inner bag that is contained in a container having one or two pairs of opposing flaps at the open upper part is folded back over the upper ends of the one or two pairs of opposing flaps, and then the container An inner bag storing method for storing the open upper part of the inner bag inside, wherein one pair of flaps of the one or two pairs of opposing flaps with the inner bag hung is After gripping with hands, the hands are moved upward as they are, and the pair of hands respectively come into contact with the folded back portion of the inner bag outside the container when the flap is gripped. Since the portion is provided with a non-slip portion, only the folded back portion of the inner bag follows the movement of the pair of hands when the pair of hands are moved above the container. A method for storing an inner bag, characterized in that the folded portion is removed from the flap by moving upward of the container.
[8] Air is blown from above the container toward the open top of the inner bag by at least one nozzle for assisting storage when the open top of the inner bag is gripped and stored in the container by the hand. The inner bag storage method according to the above [7], characterized by comprising a step of blowing.
[9] Air is supplied from below the container to release the inner bag from the pair of flaps that are not gripped by the pair of hands, in order to remove the inner bag. The inner bag storage method according to the above [7] or [8], comprising a step of blowing upward with at least one nozzle.
[10] The inner bag according to any one of [7] to [9] above, characterized by comprising a step of fixing the position of the flap by suction when the flap is gripped by the pair of hands. storage method.
[11] The above-described [7] to the above characterized by including a step of pressing the open top of the inner bag downward with a pressing device after the open top of the inner bag is housed in the container by the pair of hands. The inner bag storage method according to any one of [10].
[12] In the step of gripping the pair of flaps with the pair of hands, the pair of hands grip the pair of flaps whose flap surfaces are parallel to the direction in which the container on the transport conveyor moves. The inner bag storage method according to any one of [7] to [11] above, characterized by:
[13] The open top of an inner bag that is housed in a container having one or two pairs of opposing flaps at the open top is folded back over the upper ends of the one or two pairs of opposing flaps, and then the container An inner bag folding device for storing the open upper part of the inner bag inside, which grips one pair of flaps out of the one or two pairs of opposing flaps with the inner bag hung. , a pair of hands capable of moving upward of the container as they are, wherein the pair of hands slides over the portion of the inner bag that is in contact with the portion of the inner bag that is folded back on the outside of the container when the flap is gripped. An inner bag folding device, characterized in that a stopper is provided.

According to the present invention, the inner bag can be accommodated in the container with the open top of the inner bag that is housed in the container having the flap at the open top, and the open top of the inner bag can be stored in the container in a state in which the open top is folded over the upper end of the flap. An apparatus and method of liner storage can be provided.

1 is a schematic diagram (perspective view) showing an inner bag storage device according to an embodiment of the present invention; FIG. 1 is a schematic diagram (front view) showing an inner bag storage device according to an embodiment of the present invention; FIG. FIG. 2 is a schematic diagram showing a peripheral portion of a hand of the inner bag storage device of FIG. 1; It is a schematic diagram showing the process of the inner bag housing method according to the embodiment of the present invention. It is a schematic diagram showing the process of the inner bag housing method according to the embodiment of the present invention. It is a schematic diagram showing the process of the inner bag housing method according to the embodiment of the present invention.

[Inner bag storage device]
FIG. 1 is a schematic diagram (perspective view) showing an inner bag storage device according to an embodiment of the present invention, and FIG. 2 is a schematic diagram (front view) showing an inner bag storage device according to an embodiment of the present invention. ). Moreover, FIG. 3 is a schematic diagram showing a peripheral portion of the hand of the inner bag storage device of FIG. BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described with reference to the drawings.

In the inner bag storage device 100 according to the embodiment of the present invention, the open upper portion of the inner bag 2, which is housed in the container 1 having one or two pairs of opposing flaps at the open upper portion, has the one pair or two pairs of opposite flaps. A device for storing the open upper part of the inner bag 2 in the container 1 from the state in which it is folded back and hung on the upper end of the flap, wherein the pair or two pairs facing each other in the state in which the inner bag 2 is hung A pair of hands 14A and 14B are provided for gripping a pair of flaps of the flaps, and the pair of hands 14A and 14B are respectively in contact with the portion of the inner bag 2 folded back outside the container when the flaps are gripped. is provided with anti-slip portions 14a and 14b.

Examples of the container 1 include a paper box such as a cardboard box, a wooden box, a plastic box, and the like. The container may be of any material, shape, etc., as long as it has a flap at the open top, but a rectangular parallelepiped or cubic container is preferable. The container 1 is transported by transport means such as a roller conveyor 20 or a belt conveyor shown in FIG. 1 and the like.

Examples of the inner bag 2 include a plastic bag, a paper bag, and a cloth bag. Examples of plastic bags include bags made from polymers such as polyvinyl chloride, polyethylene, polypropylene, polyester, and nylon. Inside the inner bag 2, foodstuffs and the like, for example, liquid foods such as beverages and edible oils put in a bag or the like are accommodated as objects to be packaged.

The inner bag storage device 100 includes an inner bag folding device 10, vacuum chucks 21A, 21B, 21C, and 21D, inner bag blow-up nozzles 22A, 22B, 22C, and 22D, and an inner bag pressing device 30.

(Inner bag folding device)
The inner bag folding device 10 includes a main body 11, a strut 12, arms 13A and 13B, hands 14A and 14B, and inner bag folding auxiliary nozzles 15A, 15B, 15C and 15D. The inner bag folding device 10 is installed on a stand 40 for adjusting the height of the arms and hands.

The body portion 11 includes a driving portion having a power source for causing the arms 13A and 13B and the hands 14A and 14B to perform predetermined operations, and a control portion for controlling the predetermined operations. In addition, wheels (installed at the four corners of the bottom plate) that allow the inner bag folding device 10 to move may be provided. The driving section and the control section may be built in the body section 11 or may be externally attached. If wheels are provided, stoppers are provided to keep them in place.

The strut 12 connects the main body 11 and the arms 13A and 13B, and supports the arms 13A and 13B.

Arms 13A and 13B are two coaxially arranged arms, and are capable of coordinated operation.

As a dual-arm robot that can be applied as part of the inner bag folding device 10 (main body 11, strut 12, arms 13A and 13B), for example, a commercially available dual-arm SCARA robot (horizontal articulated robot) (for example, Kawasaki A dual-arm SCARA robot duAro (registered trademark) manufactured by Heavy Industry Co., Ltd. can be used.

The hands 14A and 14B are provided at the ends of the arms 13A and 13B as components of the inner bag folding device 10 in the inner bag storage device 100 according to the embodiment of the present invention shown in FIGS. . The hands 14A and 14B are electrically connected to the main body 11 via the arms 13A and 13B and the strut 12, and can operate the hands 14A and 14B as set by the controller of the main body 11. .

Each of the hands 14A and 14B is composed of two parallel plates, and by moving the two parallel plates in a direction to bring them closer together, the flap of the container 1 inserted between the two parallel plates is moved to the inside of the hook. It can be sandwiched through the bag 2. The shape of the parallel plates is preferably rectangular or square, but is not limited to these.

The material of the hands 14A and 14B is not particularly limited, and may be metal plates such as aluminum, iron, stainless steel, copper, titanium, alloys, plastic plates, or wood plates. A metal plate is preferable from the viewpoint of durability. Further, through holes may be appropriately provided for weight reduction.

In the illustrated embodiment, a pair of hands 14A and 14B grips a pair of flaps whose flap surfaces are parallel to the direction in which the container 1 on the conveyor such as the roller conveyor 20 advances. However, it is also possible to grab a pair of flaps whose flap surfaces are perpendicular to the direction in which the container 1 advances.

As described above, the hands 14A and 14B are provided with non-slip portions 14a and 14b at portions that come into contact with the folded portion of the inner bag 2 that is hooked to the flap when the flap of the container 1 is gripped. As the non-slip portions 14a and 14b, for example, members such as rubber plates and silicone resin plates are suitable. A plate of metal, wood, plastic, or the like having an uneven surface can also be used, and the surface of the hand 14A or 14B can also be uneven. As the rubber, urethane rubber or the like is suitable. In the illustrated embodiment, the inner surfaces of the outer plates of the hands 14A and 14B (the plates that come to the outside of the container 1 when the flap is gripped) (14A ₁ and 14B ₁ in FIG. 2) A non-slip portion is adhered with an adhesive or the like only to the bottom portion (that is, the portion that contacts the folded back portion of the inner bag 2 that is hung on the flap when the flap of the container 1 is gripped). In addition to this embodiment, concave anti-slip portions may be provided so as to be fitted to the bottoms of the outer plates 14A ₁ and 14B ₁ of the hands 14A and 14B, respectively. On the other hand, the bottom of the inner plate of each of the hands 14A and 14B (the plate that comes inside the container 1 when the flap is gripped) (14A ₂ and 14B ₂ in FIG. 2) may not be provided with a non-slip portion. preferable. By adopting such an embodiment, when the hands 14A and 14B are pulled up, only the folded-back portion of the inner bag 2 is pulled up following the hands (the inner bag 2 on the inner side of the flap is pulled up by the hands). ), and the folded portion of the inner bag 2 can be smoothly removed from the flap.

The inner bag folding auxiliary nozzles 15A, 15B, 15C, and 15D supply air to the container 1 for assisting storage when the pair of hands 14A and 14B hold the open top of the inner bag 2 and store it in the container 1. There are two pairs of nozzles (15A and 15C, 15B and 15D) that blow toward the open top of the inner bag 2 from above. It is preferable to provide at least one inner bag-folding auxiliary nozzle, more preferably at least one pair of inner-bag folding auxiliary nozzles. As a result, the operation of folding the inner bag 2 into the container 1 by the hands 14A and 14B can be performed more smoothly. The amount and speed of the air from the nozzle are not particularly limited as long as the inner bag 2 is moved by the wind pressure. For example, air volume: 5 to 200 L/min, wind speed: 1 to 30 m/s are preferred. In the illustrated embodiment, inner bag folding auxiliary nozzles 15A, 15B, 15C, and 15D are installed at upper corners of hands 14A and 14B. A hose, a blower pump, and the like connected to the nozzle are omitted from the drawing.

(vacuum chuck)
The vacuum chucks 21A, 21B, 21C, and 21D are suction devices for fixing the position of the flap when the pair of hands 14A and 14B grip the flap. The vacuum chucks 21A, 21B, 21C, and 21D are fixed by contacting and sucking the flaps. As a result, the flaps can be positioned, so that the rate of failure to grip the flaps with the hands 14A and 14B can be reduced. Vacuum chucks 21A, 21B, 21C, and 21D are installed on roller conveyor 20 in the illustrated embodiment. A hose, a suction pump, and the like connected to the vacuum chuck are not shown.

(Inner bag blow-up nozzle)
The inner bag blow-up nozzles 22A, 22B, 22C, and 22D are air blowers for removing the inner bag 2 hung on the pair of flaps that are not gripped by the pair of hands 14A and 14B out of the two pairs of opposing flaps. are two pairs of nozzles (22A and 22C, 22B and 22D) that blow up from below the container 1 toward the open top of the inner bag 2. Preferably, at least one bladder blow-up nozzle is provided, and more preferably, at least one pair of bladder blow-up nozzles is provided. As a result, the operation of removing the folded portion of the inner bag 2 from the flap of the container 1 by the hands 14A and 14B can be performed more smoothly. The amount and speed of the air from the nozzle are not particularly limited as long as the inner bag 2 is moved (blown up) by the wind pressure. For example, air volume: 5 to 200 L/min, wind speed: 2 to 30 m/s are preferred. In the illustrated embodiment, the inner bag blow-up nozzles 22A, 22B, 22C, and 22D are installed on the roller conveyor 20. As shown in FIG. A hose connected to the nozzle, a blower pump, and the like are omitted from the drawing.

(Inner bag holding device)
The inner bag pressing device 30 is a device for pressing the open upper portion of the inner bag 2 downward after the open upper portion of the inner bag 2 is accommodated in the container 1 by a pair of hands 14A and 14B, and is capable of vertical movement. A top surface pressing stage 31 is provided. As a result, the inner bag 2 can be more sufficiently accommodated in the container 1 . As the top surface pressing stage 31, for example, as shown in the figure, a plurality of metal rods arranged in parallel can be used.

[Inner bag storage method]
4 to 6 are schematic diagrams showing the steps of the inner bag housing method according to the embodiment of the present invention. BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described with reference to the drawings.

In the method for storing the inner bag according to the embodiment of the present invention, the open top of the inner bag 2 that is contained in the container 1 having one or two pairs of opposing flaps at the open top is An inner bag storing method for storing the open upper part of the inner bag 2 in the container 1 in a state in which the inner bag 2 is folded back and hung on the upper end of the flap, wherein the one pair or two pairs of the inner bag 2 in the hung state After grasping a pair of opposing flaps with a pair of hands 14A and 14B, the pair of hands 14A and 14B are moved upward of the container 1, and the pair of hands 14A and 14B are provided with anti-slip portions 14a and 14b at portions that come into contact with the portion of the inner bag 2 that is folded back on the outside of the container when the flap is gripped, so that the pair of hands 14A and 14B can grip the container 1. When moved upward, only the folded-back portion of the inner bag 2 follows the movement of the pair of hands 14A and 14B, moves upward of the container 1, and the folded-back portion is removed from the flap. and

In the step of moving the pair of hands 14A and 14B above the container 1 after grasping the pair of flaps by the pair of hands 14A and 14B, the hands 14A (or hands 14B) are moved to the top of the container. It is preferable to move the hand 14B (or the hand 14A) above the container 1 after moving the container 1 above the container 1 in that the hands 14A and 14B do not interfere with each other. That is, the hands 14A and 14B are not moved to the upper side of the container 1 at the same time, but are moved in order (after the folding operation by one hand is completed and the hand is returned to its original position, the other hand is moved). above the container 1).

In the embodiment of the present invention, air is supplied to the inner bag 2 from above the container 1 to assist the storage when the open top of the inner bag 2 is gripped and stored in the container 1 by a pair of hands 14A and 14B. It is preferable to include a step of spraying from at least one pair of nozzles (two pairs of nozzles 15A, 15B, 15C, 15D in the figure) toward the open top.

In the embodiment of the present invention, air is supplied to the container 2 to remove the inner bag 2 from the pair of flaps that are not gripped by the pair of hands 14A and 14B. It is preferable to include a step of blowing up from below the inner bag 2 toward the open top of the inner bag 2 with at least one pair of nozzles (two pairs of nozzles 22A, 22B, 22C, and 22D in the figure).

Moreover, in the embodiment of the present invention, it is preferable to include a step of fixing the position of the flap by suction when the pair of hands 14A and 14B grip the flap.

Moreover, in the embodiment of the present invention, a step of pressing the open top of the inner bag 2 downward by the pressing device 30 after the open top of the inner bag 2 is stored in the container 1 by the pair of hands 14A and 14B is provided. is preferred.

Further, in the embodiment of the present invention, in the above process of gripping the pair of flaps with the pair of hands 14A and 14B, the pair of hands 14A and 14B are controlled by the direction in which the container 1 on the conveyer advances and the plane of the flap. preferably grip a pair of parallel flaps.

A specific inner bag housing method is, for example, as follows.
(1) The container 1 conveyed by the roller conveyor 20 is stopped beside the inner bag folding device 10, and a pair of flaps whose flap surfaces are parallel to the traveling direction of the container 1 are vacuum chucks 21A, 21B, 21C, and 21D. It is positioned by being sucked by (FIG. 4(a)).
(2) The hands 14A and 14B are lowered, and the hands 14A and 14B grasp a pair of flaps whose flap surfaces are parallel to the traveling direction of the container 1 through the inner bag 2 (Fig. 4(b)).
(3) Move the inner bag blow-up nozzles 22A, 22B, 22C, and 22D close to the container 1 so that the folded portion of the inner bag 2, which is hung on a pair of flaps whose flap surfaces are perpendicular to the traveling direction of the container 1, floats up. Then, air is blown up from the nozzles 22A, 22B, 22C, and 22D to the portion concerned (FIG. 4(c)).
(4) Raise the hands 14A and 14B while gripping the inner bag 2 to remove the inner bag 2 from the flap (Fig. 5(d)).
(5) The hand 14A is lowered into the container 1, and the inner bag 2 on the side gripped by the hand 14A is folded into the container 1. At this time, air is blown toward the inner bag 2 from the inner bag folding auxiliary nozzles 15A and 15C to assist folding of the inner bag 2 into the container 1 (FIG. 5(e)). After that, the hand 14A is raised.
(6) The hand 14B is lowered into the container 1, and the inner bag 2 on the side gripped by the hand 14B is folded into the container 1. At this time, air is blown toward the inner bag 2 from the inner bag folding auxiliary nozzles 15B and 15D to assist folding of the inner bag 2 into the container 1 (FIG. 5(f)). After that, the hand 14B is raised.
(7) The container 1 is conveyed to the position of the inner bag pressing device 30 by the roller conveyor 20 (Fig. 6(g)).
(8) Lower the top pressing stage 31 of the inner bag pressing device 30 into the container 1 to press the inner bag 2 from above (Fig. 6(h)). After that, the top surface pressing stage 31 is raised.
(9) The container 1 is conveyed downstream by the roller conveyor 20 (Fig. 6(i)).
After that, the flap is folded down at the crease on the downstream side to close the container 1 .

It should be noted that the present invention is not limited to the above-described embodiment, and can be modified in various ways.

1: Container 2: Inner Bag 100: Inner Bag Storage Device 10: Inner Bag Folding Device 11: Body Part 12: Post 13A, 13B: Arms 14A, 14B: Hands 14a, 14b: Non-Slip Parts 15A, 15B , 15C, 15D: Inner bag folding auxiliary nozzle 20: Roller conveyors 21A, 21B, 21C, 21D: Vacuum chucks 22A, 22B, 22C, 22D: Inner bag blow-up nozzle 30: Inner bag holding device 31: Top face holding stage 40 : stand

Claims (13)

The open top of the inner bag, which is housed in a container having one or two pairs of opposing flaps at the open top, is folded back over the upper ends of the one pair or two pairs of opposing flaps, and then into the container. An inner bag storage device for storing an open upper portion of an inner bag,
A pair of hands capable of grasping a pair of flaps out of the pair of opposing flaps with the inner bag hung thereon and moving upward of the container as they are ,
An inner bag storage device, wherein each of the pair of hands is provided with a non-slip portion at a portion that contacts with a portion of the inner bag that is folded back outside the container when the flap is gripped. At least one nozzle for blowing air from above the container toward the open top of the inner bag for assisting storage when the open top of the inner bag is gripped and stored in the container by the hand. The inner bag storage device according to claim 1, characterized by: Air for removing the inner bag from the pair of flaps that are not gripped by the pair of hands is directed from below the container toward the open top of the inner bag. 3. The liner storage device according to claim 1, further comprising at least one nozzle for blowing up. The inner bag storage device according to any one of claims 1 to 3, further comprising a suction device for fixing the position of the flap when the pair of hands grips the flap. 5. The apparatus according to any one of claims 1 to 4, further comprising a pressing device for pressing the open upper portion of the inner bag downward after the open upper portion of the inner bag is accommodated in the container by the pair of hands. The inner bag storage device according to item 1. 6. The inner device according to any one of claims 1 to 5, wherein the pair of hands grips the pair of flaps whose flap surfaces are parallel to the direction in which the container on the conveyer moves. bag storage device. The open top of the inner bag, which is housed in a container having one or two pairs of opposing flaps at the open top, is folded back over the upper ends of the one pair or two pairs of opposing flaps, and then into the container. An inner bag storage method for storing an open top of an inner bag, comprising:
After a pair of hands grasps a pair of flaps out of the pair or two pairs of opposing flaps in which the inner bag is hung, the pair of hands is moved upward of the container. Equipped with a process,
Since each of the pair of hands is provided with a non-slip portion in contact with the portion of the inner bag that is folded back on the outside of the container when the flap is gripped, the pair of hands is attached to the container. When moved upward, only the folded-back portion of the inner bag follows the movement of the pair of hands, moves upward of the container, and the folded-back portion is removed from the flap. Inner bag storage method. Air is directed from above the container toward the open top of the inner bag by at least one nozzle for assisting storage when the open top of the inner bag is gripped and stored in the container by the pair of hands. 8. The inner bag housing method according to claim 7, further comprising a step of blowing. Air for removing the inner bag from the pair of flaps that are not gripped by the pair of hands is directed from below the container toward the open top of the inner bag. 9. The inner bag storage method according to claim 7 or 8, further comprising the step of blowing up with at least one nozzle. The inner bag storage method according to any one of claims 7 to 9, further comprising a step of fixing the position of the flap by suction when the flap is gripped by the pair of hands. 11. The method according to any one of claims 7 to 10, further comprising a step of pressing the open top of the inner bag downward with a pressing device after the open top of the inner bag is stored in the container by the pair of hands. The inner bag storage method according to item 1. In the step of gripping the pair of flaps with the pair of hands, the pair of hands grips the pair of flaps whose flap surfaces are parallel to the direction in which the container on the conveyer moves. The inner bag storage method according to any one of claims 7 to 11. The open top of the inner bag, which is housed in a container having one or two pairs of opposing flaps at the open top, is folded back over the upper ends of the one pair or two pairs of opposing flaps, and then into the container. An inner bag folding device for storing the open top of the inner bag,
A pair of hands capable of grasping a pair of flaps out of the pair of opposing flaps with the inner bag hung thereon and moving upward of the container as they are ,
The inner bag folding device is characterized in that each of the pair of hands is provided with a non-slip portion at a portion contacting a portion of the inner bag that is folded back on the outside of the container when the flap is gripped.

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